Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space

Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm s...
Ausführliche Beschreibung

Gespeichert in:

Autor*in:	Wang, Xiaoyi [verfasserIn] Katupitiya, Jayantha [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2023

Schlagwörter:	Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy

Übergeordnetes Werk:	Enthalten in: Aerospace science and technology - Amsterdam [u.a.] : Elsevier Science, 1997, 141
Übergeordnetes Werk:	volume:141

DOI / URN:	10.1016/j.ast.2023.108538

Katalog-ID:	ELV063816342

Internformat


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100	1		\|a Wang, Xiaoyi \|e verfasserin \|0 (orcid)0000-0002-8511-1273 \|4 aut
245	1	0	\|a Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space
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520			\|a Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S.
650		4	\|a Dual-arm space robot
650		4	\|a Sliding mode control
650		4	\|a High-order sliding mode control
650		4	\|a Non-cooperative objects
650		4	\|a Capture strategy
700	1		\|a Katupitiya, Jayantha \|e verfasserin \|4 aut
773	0	8	\|i Enthalten in \|t Aerospace science and technology \|d Amsterdam [u.a.] : Elsevier Science, 1997 \|g 141 \|h Online-Ressource \|w (DE-627)320521486 \|w (DE-600)2014638-3 \|w (DE-576)255630425 \|x 1626-3219 \|7 nnns
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912			\|a GBV_ILN_602
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publishDate	2023
allfields	10.1016/j.ast.2023.108538 doi (DE-627)ELV063816342 (ELSEVIER)S1270-9638(23)00435-2 DE-627 ger DE-627 rda eng 620 VZ 55.50 bkl 55.60 bkl 55.60 bkl Wang, Xiaoyi verfasserin (orcid)0000-0002-8511-1273 aut Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S. Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy Katupitiya, Jayantha verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 141 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:141 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 55.50 Luftfahrzeugtechnik VZ 55.60 Raumfahrttechnik VZ 55.60 Raumfahrttechnik VZ AR 141
spelling	10.1016/j.ast.2023.108538 doi (DE-627)ELV063816342 (ELSEVIER)S1270-9638(23)00435-2 DE-627 ger DE-627 rda eng 620 VZ 55.50 bkl 55.60 bkl 55.60 bkl Wang, Xiaoyi verfasserin (orcid)0000-0002-8511-1273 aut Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S. Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy Katupitiya, Jayantha verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 141 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:141 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 55.50 Luftfahrzeugtechnik VZ 55.60 Raumfahrttechnik VZ 55.60 Raumfahrttechnik VZ AR 141
allfields_unstemmed	10.1016/j.ast.2023.108538 doi (DE-627)ELV063816342 (ELSEVIER)S1270-9638(23)00435-2 DE-627 ger DE-627 rda eng 620 VZ 55.50 bkl 55.60 bkl 55.60 bkl Wang, Xiaoyi verfasserin (orcid)0000-0002-8511-1273 aut Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S. Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy Katupitiya, Jayantha verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 141 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:141 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 55.50 Luftfahrzeugtechnik VZ 55.60 Raumfahrttechnik VZ 55.60 Raumfahrttechnik VZ AR 141
allfieldsGer	10.1016/j.ast.2023.108538 doi (DE-627)ELV063816342 (ELSEVIER)S1270-9638(23)00435-2 DE-627 ger DE-627 rda eng 620 VZ 55.50 bkl 55.60 bkl 55.60 bkl Wang, Xiaoyi verfasserin (orcid)0000-0002-8511-1273 aut Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S. Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy Katupitiya, Jayantha verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 141 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:141 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 55.50 Luftfahrzeugtechnik VZ 55.60 Raumfahrttechnik VZ 55.60 Raumfahrttechnik VZ AR 141
allfieldsSound	10.1016/j.ast.2023.108538 doi (DE-627)ELV063816342 (ELSEVIER)S1270-9638(23)00435-2 DE-627 ger DE-627 rda eng 620 VZ 55.50 bkl 55.60 bkl 55.60 bkl Wang, Xiaoyi verfasserin (orcid)0000-0002-8511-1273 aut Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space 2023 nicht spezifiziert zzz rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S. Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy Katupitiya, Jayantha verfasserin aut Enthalten in Aerospace science and technology Amsterdam [u.a.] : Elsevier Science, 1997 141 Online-Ressource (DE-627)320521486 (DE-600)2014638-3 (DE-576)255630425 1626-3219 nnns volume:141 GBV_USEFLAG_U GBV_ELV SYSFLAG_U SSG-OPC-AST GBV_ILN_20 GBV_ILN_22 GBV_ILN_23 GBV_ILN_24 GBV_ILN_31 GBV_ILN_32 GBV_ILN_40 GBV_ILN_60 GBV_ILN_62 GBV_ILN_65 GBV_ILN_69 GBV_ILN_70 GBV_ILN_73 GBV_ILN_74 GBV_ILN_90 GBV_ILN_95 GBV_ILN_100 GBV_ILN_105 GBV_ILN_110 GBV_ILN_150 GBV_ILN_151 GBV_ILN_187 GBV_ILN_213 GBV_ILN_224 GBV_ILN_230 GBV_ILN_370 GBV_ILN_602 GBV_ILN_702 GBV_ILN_2001 GBV_ILN_2003 GBV_ILN_2004 GBV_ILN_2005 GBV_ILN_2007 GBV_ILN_2008 GBV_ILN_2009 GBV_ILN_2010 GBV_ILN_2011 GBV_ILN_2014 GBV_ILN_2015 GBV_ILN_2020 GBV_ILN_2021 GBV_ILN_2025 GBV_ILN_2026 GBV_ILN_2027 GBV_ILN_2034 GBV_ILN_2044 GBV_ILN_2048 GBV_ILN_2049 GBV_ILN_2050 GBV_ILN_2055 GBV_ILN_2056 GBV_ILN_2059 GBV_ILN_2061 GBV_ILN_2064 GBV_ILN_2088 GBV_ILN_2106 GBV_ILN_2110 GBV_ILN_2111 GBV_ILN_2112 GBV_ILN_2122 GBV_ILN_2129 GBV_ILN_2143 GBV_ILN_2152 GBV_ILN_2153 GBV_ILN_2190 GBV_ILN_2232 GBV_ILN_2336 GBV_ILN_2470 GBV_ILN_2507 GBV_ILN_4035 GBV_ILN_4037 GBV_ILN_4112 GBV_ILN_4125 GBV_ILN_4242 GBV_ILN_4249 GBV_ILN_4251 GBV_ILN_4305 GBV_ILN_4306 GBV_ILN_4307 GBV_ILN_4313 GBV_ILN_4322 GBV_ILN_4323 GBV_ILN_4324 GBV_ILN_4325 GBV_ILN_4326 GBV_ILN_4333 GBV_ILN_4334 GBV_ILN_4338 GBV_ILN_4393 GBV_ILN_4700 55.50 Luftfahrzeugtechnik VZ 55.60 Raumfahrttechnik VZ 55.60 Raumfahrttechnik VZ AR 141
language	English
source	Enthalten in Aerospace science and technology 141 volume:141
sourceStr	Enthalten in Aerospace science and technology 141 volume:141
format_phy_str_mv	Article
bklname	Luftfahrzeugtechnik Raumfahrttechnik
institution	findex.gbv.de
topic_facet	Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy
dewey-raw	620
isfreeaccess_bool	false
container_title	Aerospace science and technology
authorswithroles_txt_mv	Wang, Xiaoyi @@aut@@ Katupitiya, Jayantha @@aut@@
publishDateDaySort_date	2023-01-01T00:00:00Z
hierarchy_top_id	320521486
dewey-sort	3620
id	ELV063816342
language_de	englisch
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author	Wang, Xiaoyi
spellingShingle	Wang, Xiaoyi ddc 620 bkl 55.50 bkl 55.60 misc Dual-arm space robot misc Sliding mode control misc High-order sliding mode control misc Non-cooperative objects misc Capture strategy Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space
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topic_title	620 VZ 55.50 bkl 55.60 bkl Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space Dual-arm space robot Sliding mode control High-order sliding mode control Non-cooperative objects Capture strategy
topic	ddc 620 bkl 55.50 bkl 55.60 misc Dual-arm space robot misc Sliding mode control misc High-order sliding mode control misc Non-cooperative objects misc Capture strategy
topic_unstemmed	ddc 620 bkl 55.50 bkl 55.60 misc Dual-arm space robot misc Sliding mode control misc High-order sliding mode control misc Non-cooperative objects misc Capture strategy
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title	Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space
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title_full	Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space
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title_sort	robust control of a dual-arm space robot to capture a non-cooperative target in 3d space
title_auth	Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space
abstract	Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S.
abstractGer	Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S.
abstract_unstemmed	Non-cooperative objects in space, like defunct spinning satellites, are potentially dangerous to subsequent space missions. Thus, this paper proposes a new capture strategy by a dual-arm space robot to improve the efficiency of the capture operation. Compared with single-arm space robots, dual-arm space robots can carry out more complex missions, like capturing a spinning target in three-dimensional (3D) space, with a higher probability of success. Considering the possible model uncertainties of a space robot and a non-cooperative target, a sliding mode controller (SMC) with good robustness against the model uncertainties was developed. However, due to frequent switches in the controller, the SMC usually has chattering effects causing uncontrolled vibrations of the spacecraft structure. For comparison, a smoothed quasi-continuous second-order sliding mode controller (SQC2S) can provide the same high accuracy level as the SMC and remove the chattering effects caused by the SMC. In addition, the SQC2S can deliver better robust performance against the model uncertainties than the SMC. Finally, the proposed capture strategy is validated and compared in the numerical simulations by the SMC and the SQC2S.
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title_short	Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space
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up_date	2024-07-06T19:59:01.608Z
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Robust control of a dual-arm space robot to capture a non-cooperative target in 3D space

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